CN104994576A - Indoor personnel positioning system and method based on infrared human body sensor array - Google Patents
Indoor personnel positioning system and method based on infrared human body sensor array Download PDFInfo
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- CN104994576A CN104994576A CN201510247011.4A CN201510247011A CN104994576A CN 104994576 A CN104994576 A CN 104994576A CN 201510247011 A CN201510247011 A CN 201510247011A CN 104994576 A CN104994576 A CN 104994576A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/02—Power saving arrangements
- H04W52/0209—Power saving arrangements in terminal devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention provides an indoor personnel positioning system and method based on an infrared human body sensor array. The system comprises a plurality of detecting nodes, a base station node, and a host computer. The detecting nodes are arranged at different positions indoors. The base station node is connected with the host computer through a serial port connecting line. The detecting nodes are wirelessly connected with the base station node. Each infrared human body sensor array comprises four infrared human body sensors. Each infrared human body sensor has a 90-degree detecting range such that each infrared human body sensor array may achieve 360-degree omnibearing detection. Each detecting node transmits a detected result to the base station node via a Zigbee network in order to compute personnel positions. Personnel to be positioned are not required to wear any tag or signal source and are completely passively positioned. The indoor personnel positioning system is high in positioning precision. Since each infrared human body sensor has an about 6-meter detecting radius, the information of more than 3 detecting node may achieve about 1-meter positioning precision which may completely satisfy an indoor personnel positioning requirement.
Description
Technical field
The invention belongs to wireless sensor network and indoor occupant field of locating technology, be specifically related to a kind of indoor occupant navigation system based on infrared human body sensor array and method.
Background technology
Current range of application the most widely navigation system is GPS global positioning system, this system can provide meter level positioning service in the world, but, under indoor environment, because gps signal is subject to blocking of building, make signal fading badly, finally cause positioning precision sharply to decline the generation of situations such as maybe cannot locating.In recent years, along with heavy construction gets more and more, indoor occupant location technology becomes the focus of research.Dispose flexibly because wireless sensor network has, power consumption is less and can the feature such as MANET, wireless sensor network is with a wide range of applications in indoor positioning.
At present, indoor occupant navigation system is active location mostly, namely requires personnel's carrying electronic label, by electronic tag initiatively outwards transmit (as radio) realize location, this locate mode needs to consume more energy, needs more hardware supports simultaneously.The Cricket indoor locating system of Massachusetts Institute Technology's exploitation is positioned by TDOA (Time Differenceof Arrival) mode, needed to wear unknown node by locating personnel, unknown node launches ultrasonic wave and radio signal to beaconing nodes simultaneously, beaconing nodes reaches according to two kinds of signals the measurement that the time difference realizes distance, the information of measurement is sent to base station by each beaconing nodes, realizes the estimation to unknown node position by base station.This navigation system needs to wear node with it personnel, and the energy ezpenditure of which is higher.
Summary of the invention
For prior art Problems existing, the invention provides a kind of indoor occupant navigation system based on infrared human body sensor array and method.
Technical scheme of the present invention is:
Based on an indoor occupant navigation system for infrared human body sensor array, comprising: some probe nodes, a base-station node and host computer;
Described probe node is used for being detected indoor occupant by infrared human body inductive pick-up array, send a signal to base-station node when indoor occupant being detected, this probe node sends information to the neighbours' probe node in communication radius and wakes neighbor node up and carry out collaborative detection simultaneously;
Described base-station node is used for the probe node received to detect that the signal of indoor occupant and the detection information of this probe node are sent to host computer;
Described host computer is used for according to probe node position and respectively detects that the detection information of probe node of indoor occupant estimates the position of indoor occupant;
Described probe node is deployed in indoor diverse location, and base-station node is connected with host computer by serial port connecting wire; Probe node and base-station node wireless connections.
Described probe node comprises:
First power module, for providing power supply for the first controller, the first wireless module and infrared human body sensor array;
Infrared human body sensor array, for carrying out infrared detection to indoor occupant, sends a high level signal to the first controller when having personnel to exist in the infrared human body transducer radius of investigation in infrared human body sensor array;
First controller, transfers to base-station node by No. ID of this probe node No. ID and this infrared human body transducer through the first wireless module after the high level signal receiving infrared human body sensing;
First status indicator lamp, for detecting that at the first controller the first power module electricity carries out flash caution time not enough;
The signal output part of infrared human body sensor array connects the input of the first controller, the output of the first controller connects the input of the first wireless module and the input of the first status indicator lamp respectively, and the first wireless module sets up radio communication by the mode of ZigBee multi-hop transmission and base-station node.
Described infrared human body sensor array comprises 4 infrared human body inductive pick-ups, and adjacent two transducers become 90 degree to be arranged on array board, and the signal output part of 4 infrared human body inductive pick-ups connects the signal input part of the first controller respectively.
Described base-station node comprises:
Second controller module, receives No. ID of this probe node and No. ID of this infrared human body sensor array by the second wireless module, and is sent on host computer by serial communication modular;
Second source module, for providing power supply for second controller, the second wireless module;
Second status indicator lamp, for detecting that at second controller second source module electricity carries out flash caution time not enough;
The input of second controller connects the output of the second wireless module, and the input of the second status indicator lamp connects the output of second controller, and the second wireless module sets up radio communication by the mode of ZigBee multi-hop transmission and probe node.
Base-station node also comprises:
For arranging the sleeping/waking time, probe node transmitting power is set, the Keysheet module of the detectivity of infrared human body transducer;
For showing the display module of detectivity of sleeping/waking time, probe node transmitting power, infrared human body transducer;
Keysheet module is connected to the input of second controller; Display module is connected to the output of second controller.
The indoor occupant navigation system based on infrared human body sensor array described in utilization carries out the method for indoor occupant location, comprises the following steps:
Step 1: at indoor monitoring regional deployment at least 3 probe nodes, base-station node is connected with host computer by serial port connecting wire;
Step 2: the probe node information arranging deployment on host computer, comprises No. ID of probe node, probe node position and infrared human body sensor array No. ID;
Step 3: by base-station node to probe node setup parameter, comprises the detectivity of sleeping/waking time, probe node transmitting power, infrared human body transducer;
Step 4: probe node is started working, if do not have personnel to occur in radius of investigation, then infrared human body sensor array is failure to actuate, and continues detection, otherwise the infrared human body transducer that the personnel that detect in infrared human body sensor array occur outwards sends a high level signal, perform step 5;
Step 5: send No. ID of No. ID and corresponding probe node infrared human body transducer that personnel occur being detected to base-station node;
Step 6: personnel appear in its radius of investigation if there is a probe node to detect, then this probe node sends information to the neighbours' probe node in communication radius and wakes neighbor node up and carry out collaborative detection, and is transmitted by the transmitting power set by the detection information of self; After neighbours' probe node receives the information of waking up, enter operating state immediately;
Described detection information comprises the ID of probe node and the ID of infrared human body transducer;
Step 7: if base-station node receives the information being less than three probe nodes, then continue the information of collecting probe node; If base-station node collects the information less than at least three probe nodes for a long time, then base-station node sends the instruction increasing transmitting power to each probe node; If base-station node receives the detection information of at least three probe nodes, by the detection information collected by Serial Port Transmission to host computer;
Step 8: host computer utilizes probe node position and detection information to estimate the position of personnel, obtains indoor occupant positioning result, and go to step 4 and locate next time.
In described step 4, the first controller of probe node detects the state of each infrared human body transducer of infrared human body sensor array by the mode of taking turns continuous query, the infrared ray of the reception human body radiation that infrared human body transducer is passive, by Fresnel Lenses, infrared heat source is focused in detection unit, and by change-over circuit output voltage signal.
The concrete grammar that in described step 8, host computer utilizes probe node position and detection information to estimate the position of personnel is:
Step 8-1: the radius of investigation intersection point determining each neighbours' probe node that the radius of investigation of the probe node that the personnel that detect occur wakes up with it;
Step 8-2: abscissa and the ordinate of determining each intersection point;
Step 8-3: the abscissa of each intersection point and ordinate are averaged respectively, estimates the position coordinates of personnel, obtain indoor occupant positioning result.
Beneficial effect:
1, for the limitation that the induction angle of traditional infrared human body sensor is less than 100 degree, the invention provides a kind of probe node based on infrared human body sensor array, each infrared human body sensor array comprises 4 infrared human body transducers, the scope of detection 90 degree is responsible for by each infrared human body transducer, thus make the infrared human body sensor array formed can realize the omnidirectional detection of 360 degree, result of detection is transferred to base-station node by ZigBee-network by each probe node, and base-station node calculates the position of personnel.
2, do not need to be worn any label or signal source by locating personnel, entirely passive type is located.
3, positioning precision is higher, and because the radius of investigation of infrared human body transducer is at about 6 meters, use the information of more than 3 probe nodes can realize the positioning precision of about 1 meter, this positioning precision can realize the demand of indoor occupant location completely.
4, network configuration self-organizing, from safeguarding.Because each probe node/base-station node have employed the wireless module supporting Zigbee protocol, therefore, result of detection can pass through ZigBee-network multi-hop transmission, and network has the characteristic of self-organizing, makes the dynamic topology better performances of network.
5, robustness is good, if respective nodes there occurs detection by mistake, can be weakened, can not affect positioning precision by the location Calculation of host computer.
6, node energy consumption is low, and service time is long, and due to each probe node only passive detection, and probe node has sleeping/waking mechanism, and this greatly reduces the power consumption of probe node, extends the useful life of system.
7, existing network is not caused disturb and realize effectively supplementing, owing to adopting ZigBee-network, existing WiFi network and mobile network are not affected, and effective supplementing can be realized.
Accompanying drawing explanation
Fig. 1 is probe node structured flowchart in the specific embodiment of the invention;
Fig. 2 is base-station node block diagram in the specific embodiment of the invention;
Fig. 3 is probe node circuit diagram in the specific embodiment of the invention;
Fig. 4 is common detection node USB charging module circuit diagram in the specific embodiment of the invention
Fig. 5 is that in the specific embodiment of the invention, sensor array disposes schematic diagram;
Fig. 6 is that in the specific embodiment of the invention, schematic diagram is disposed in probe node space
Fig. 7 is the voltage stabilizing circuit figure of base-station node in the specific embodiment of the invention;
Fig. 8 is the Keysheet module circuit diagram of base-station node in the specific embodiment of the invention;
Fig. 9 is the LCD MODULE circuit diagram of base-station node in the specific embodiment of the invention;
Figure 10 is the software flow pattern of probe node in the specific embodiment of the invention;
Figure 11 is the software flow pattern of base-station node in the specific embodiment of the invention;
Figure 12 is the indoor occupant localization method flow chart based on infrared human body sensor array in the specific embodiment of the invention;
Figure 13 is the radius of investigation schematic diagram of probe node in the specific embodiment of the invention;
Figure 14 is the position view of the personnel estimated in the specific embodiment of the invention.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated.
Based on an indoor occupant navigation system for infrared human body sensor array, comprising: some probe nodes, a base-station node and host computer;
Probe node is used for being detected indoor occupant by infrared human body inductive pick-up array, send a signal to base-station node when indoor occupant being detected, this probe node sends information to the neighbours' probe node in communication radius and wakes neighbor node up and carry out collaborative detection simultaneously.
As shown in Figure 1, probe node comprises:
First power module, for providing power supply for the first controller, the first wireless module and infrared human body sensor array;
Infrared human body sensor array, for carrying out infrared detection to indoor occupant, sends a high level signal to the first controller when having personnel to exist in the infrared human body transducer radius of investigation in infrared human body sensor array;
First controller, transfers to base-station node by No. ID of this probe node No. ID and this infrared human body transducer through the first wireless module after the high level signal receiving infrared human body sensing;
First status indicator lamp, for detecting that at the first controller the first power module electricity carries out flash caution time not enough;
The signal output part of infrared human body sensor array connects the input of the first controller, the output of the first controller connects the input of the first wireless module and the input of the first status indicator lamp respectively, and the first wireless module sets up radio communication by the mode of ZigBee multi-hop transmission and base-station node.
Infrared human body sensor array comprises 4 infrared human body inductive pick-ups, and adjacent two transducers become 90 degree to be arranged on array board, and the signal output part of 4 infrared human body inductive pick-ups connects the signal input part of the first controller respectively.
As shown in Figure 3, the software flow of probe node as shown in Figure 10 for the circuit diagram of probe node.
First controller adopts CC2530 minimum system, and CC2530 is for one of 2.4GHz IEEE 802.15.4, ZigBee and RF4CE application real SOC (system on a chip) solution; CC2530 has low-power consumption 8051 microcontroller core of code pre-fetch function, and has different operational modes, makes it especially adapt to the system of super low-power consumption requirement; Allow user's use with the aes algorithm encryption and decryption data of 128 keys, the confidentiality of transfer of data can be strengthened.
First wireless module adopts the omnidirectional's external antenna supporting 2.4GHz, and this antenna length is about 5cm, and gain is about 2.5dbi, and interface type is pin in interior spiral shell, and be applicable to the SMA base of outer spiral shell endoporus, power capacity is 50W, and impedance is 50 ohm, and standing-wave ratio is less than 1.5.
First power module adopts 402030 model poly-lithium batteries, and the rated voltage of this battery is 3.7V, and capacity is 180mAH, and supporting the first mains switch of the first power module selects MK12C02, and LED state signal lamp selected by the first status indicator lamp.First controller constantly can detect cell voltage, and when electricity is not enough, the first controller can control red LED flicker by I/O port, and informing network administrative staff are to node charging or change battery.Probe node can be charged by USB interface, network management personnel can charge by probe node is connected to host computer, USB charging module circuit as shown in Figure 4, which does not need for probe node configures extra power supply adaptor, easy to use, after electricity is full of, the first controller controls green LED lamp flicker by I/O port.
Infrared human body sensor array is made up of the infrared human body transducer that 4 models are identical, and the array of 4 transducers is disposed as shown in Figure 5, and the target within the scope of detection 90 degree is responsible for by each infrared human body transducer.The model of infrared human body transducer is HC-SR501, and operating voltage is 5V, and output high level voltage is 3.3V, and low level voltage is 0V, and induction cone angle is less than 100 degree, within distance of reaction 6 meters.The VCC of 4 infrared human body transducers holds the 5V power end after being connected to the first power module conversion, the GND end of 4 transducers is connected to the GND end of the first controller, the OUT end of 4 infrared human body transducers is connected to 4 I/O ports of the first controller respectively, and whether the first controller detects target by the condition discrimination infrared human body transducer reading this I/O port.
Due to probe node be deployed in advance monitoring room ceiling on, probe node space dispose schematic diagram as shown in Figure 6, monitored personnel without the need to wearing any electronic equipment, therefore, native system on personnel without any impact.Owing to adopting the wireless transmission result of detection of 2.4GHz, the impact of less radio-frequency on human body is most important, native system can control the transmitting power of each probe node by base-station node, generally be set as 0dBm, the transmitting power of this order of magnitude is only 1/50 of wifi signal, thus native system on human body almost without any impact.
For saving energy further, probe node is not always in running order, but there is sleeping/waking mechanism, the most of the time only has several probe node to be in work (waking up) state, and most of probe node is in the resting state of super low-power consumption.Probe node has two kinds of arouse machine processeds, the first: after a probe node detects personnel's appearance, can be waken rapidly up the surrounding neighbours node within the scope of a jumping communication radius by the mode of radio communication, be waken up probe node and participate in detection operations rapidly.The second: when network management personnel needs when monitoring in certain region, can wake instruction by base-station node up to the probe node transmission in this region, and then wake all probe nodes in this region up.
Base-station node is used for the probe node received to detect that the signal of indoor occupant and the detection information of this probe node are sent to host computer;
As shown in Figure 2, base-station node comprises:
Second controller module, receives No. ID of this probe node and No. ID of this infrared human body sensor array by the second wireless module, and is sent on host computer by serial communication modular;
Second source module, for providing power supply for second controller, the second wireless module;
Second status indicator lamp, for detecting that at second controller second source module electricity carries out flash caution time not enough;
The input of second controller connects the output of the second wireless module, and the input of the second status indicator lamp connects the output of second controller, and the second wireless module sets up radio communication by the mode of ZigBee multi-hop transmission and probe node.
Base-station node also comprises:
For arranging the sleeping/waking time, probe node transmitting power is set, the Keysheet module of the detectivity of infrared human body transducer;
For showing the display module of detectivity of sleeping/waking time, probe node transmitting power, infrared human body transducer;
Keysheet module is connected to the input of second controller; Display module is connected to the output of second controller.
Host computer is used for according to probe node position and respectively detects that the detection information of probe node of indoor occupant estimates the position of indoor occupant;
Base-station node software flow as shown in figure 11.
Second controller adopts CC2530; Second wireless module adopts the omnidirectional's external antenna supporting 2.4GHz, consistent with the first wireless module parameter of probe node.Second source module adopts 4 joint AA powered battery, by Voltage stabilizing module, voltage transitions is become required voltage, the model of Voltage stabilizing module is TPS76333, and as shown in Figure 7, to Voltage stabilizing module circuit diagram the major function of this module power to controller, wireless module, Keysheet module and display module.The circuit of Keysheet module as shown in Figure 8, has 6 keyboards, is upper and lower, left and right respectively, determine and cancel, and wherein keyboard adopts classification AD conversion mode up and down, confirms and cancel keyboard to adopt I/O port detection mode.Display module employing model is 128 × 64 LCDs of OCM12864-9, as shown in Figure 9, when carrying out setting parameter, by LCDs display menu options, controller is by this display screen of 74HC595 drived control, first controller reads the selection information of keyboard, and the content that then will show sends to display module.Base-station node is connected with host computer by serial ports by Surveillance center, and host computer can obtain monitoring information, and network management personnel also can send control command by host computer to probe node.
Probe node and base-station node all support Zigbee protocol, and the information detected can be passed to base-station node by the mode of multi-hop transmission by probe node.Zigbee protocol stack is made up of application layer, application convergence-level, network layer, data link layer and physical layer from top to bottom.Application layer defines various types of application service; Application convergence-level is responsible for different application to be mapped to ZigBee-network layer, and application layer comprises the application that application support sublayer (APS), ZigBee device object (ZDO) and user define.The function of APS comprises: maintain binding table, between the equipment of binding, transmit message.The function of ZDO is: define equipment effect in a network, initiates and response bind request, sets up security mechanism between the network devices; ZDO is also responsible for finding the equipment in network, and determines to provide which kind of application service to them.The primary responsibility Topology Management of network layer, MAC management, routing management and safety management.Data link layer can be divided into again logical link control sublayer (LLC) and MAC sublayer (MAC), and LLC major function is the fragment and re assembly of transmission reliability guarantee, packet; Access control mode when the major function of MAC is the method for salary distribution and the node communication determining subrange radio channel resource, the efficient communication of Logistics networks.The modulation of physical layer primary responsibility data, to send and reception.
Probe node is deployed in indoor diverse location, and base-station node is connected with host computer by serial port connecting wire; Probe node and base-station node wireless connections.
Utilize the indoor occupant navigation system based on infrared human body sensor array to carry out the method for indoor occupant location, as shown in figure 12, comprise the following steps:
Step 1: at indoor monitoring regional deployment at least 3 probe nodes, base-station node is connected with host computer by serial port connecting wire;
Step 2: the probe node information arranging deployment on host computer, comprises No. ID of probe node, probe node position and infrared human body sensor array No. ID;
Step 3: by base-station node to probe node setup parameter, comprises the detectivity of sleeping/waking time, probe node transmitting power, infrared human body transducer;
Step 4: probe node is started working, if do not have personnel to occur in radius of investigation, then infrared human body sensor array is failure to actuate, and continues detection, otherwise the infrared human body transducer that the personnel that detect in infrared human body sensor array occur outwards sends a high level signal, perform step 5;
If one-man in region, an infrared human body transducer so in infrared human body sensor array, is only had to send high level; If there is multiple people in region, then may send high level signal by multiple infrared human body transducer.
Step 5: send No. ID of No. ID and corresponding probe node infrared human body transducer that personnel occur being detected to base-station node;
Step 6: personnel appear in its radius of investigation if there is a probe node to detect, then this probe node sends information to the neighbours' probe node in communication radius and wakes neighbor node up and carry out collaborative detection, and is transmitted by the transmitting power set by the detection information of self; After neighbours' probe node receives the information of waking up, enter operating state immediately;
Described detection information comprises the ID of probe node and the ID of infrared human body transducer;
Step 7: if base-station node receives the information being less than three probe nodes, then continue the information of collecting probe node; If base-station node collects the information less than at least three probe nodes for a long time, then base-station node sends the instruction increasing transmitting power to each probe node; If base-station node receives the detection information of at least three probe nodes, by the detection information collected by Serial Port Transmission to host computer;
Step 8: host computer utilizes probe node position and detection information to estimate the position of personnel, obtains indoor occupant positioning result, and go to step 4 and locate next time.
In step 4, the first controller of probe node detects the state of each infrared human body transducer of infrared human body sensor array by the mode of taking turns continuous query, the infrared ray of the reception human body radiation that infrared human body transducer is passive, by Fresnel Lenses, infrared heat source is focused in detection unit, and by change-over circuit output voltage signal.
The concrete grammar that in step 8, host computer utilizes probe node position and detection information to estimate the position of personnel is:
Step 8-1: the radius of investigation intersection point determining each neighbours' probe node that the radius of investigation of the probe node that the personnel that detect occur wakes up with it;
Step 8-2: abscissa and the ordinate of determining each intersection point;
Step 8-3: the abscissa of each intersection point and ordinate are averaged respectively, estimates the position coordinates of personnel, obtain indoor occupant positioning result.
As shown in figure 13, on probe node, the region of 90 ° is responsible for by each infrared human body transducer, and probe node can realize the detection of 360 °, and the radius of investigation of node is R
s.
Suppose in monitored area, deploy 4 probe nodes, the 1# infrared human body transducer of 1# probe node is designated as 1_1, by that analogy.As shown in Figure 14, after there are personnel in monitored area, host computer can receive following detection information: 1_3,2_4,3_1 and 4_2, and host computer calculates the intersection point (A in publishing picture according to method of geometry
1, A
2, A
3, A
4) coordinate, finally utilize the result of following formula as final personnel estimated position (x
r, y
r):
Claims (8)
1. based on an indoor occupant navigation system for infrared human body sensor array, it is characterized in that, comprising: some probe nodes, a base-station node and host computer;
Described probe node is used for being detected indoor occupant by infrared human body inductive pick-up array, send a signal to base-station node when indoor occupant being detected, this probe node sends information to the neighbours' probe node in communication radius and wakes neighbor node up and carry out collaborative detection simultaneously;
Described base-station node is used for the probe node received to detect that the signal of indoor occupant and the detection information of this probe node are sent to host computer;
Described host computer is used for according to probe node position and respectively detects that the detection information of probe node of indoor occupant estimates the position of indoor occupant;
Described probe node is deployed in indoor diverse location, and base-station node is connected with host computer by serial port connecting wire; Probe node and base-station node wireless connections.
2. the indoor occupant navigation system based on infrared human body sensor array according to claim 1, it is characterized in that, described probe node comprises:
First power module, for providing power supply for the first controller, the first wireless module and infrared human body sensor array;
Infrared human body sensor array, for carrying out infrared detection to indoor occupant, sends a high level signal to the first controller when having personnel to exist in the infrared human body transducer radius of investigation in infrared human body sensor array;
First controller, transfers to base-station node by No. ID of this probe node No. ID and this infrared human body transducer through the first wireless module after the high level signal receiving infrared human body sensing;
First status indicator lamp, for detecting that at the first controller the first power module electricity carries out flash caution time not enough;
The signal output part of infrared human body sensor array connects the input of the first controller, the output of the first controller connects the input of the first wireless module and the input of the first status indicator lamp respectively, and the first wireless module sets up radio communication by the mode of ZigBee multi-hop transmission and base-station node.
3. the indoor occupant navigation system based on infrared human body sensor array according to claim 2, it is characterized in that, described infrared human body sensor array comprises 4 infrared human body inductive pick-ups, adjacent two transducers become 90 degree to be arranged on array board, and the signal output part of 4 infrared human body inductive pick-ups connects the signal input part of the first controller respectively.
4. the indoor occupant navigation system based on infrared human body sensor array according to claim 1, it is characterized in that, described base-station node comprises:
Second controller module, receives No. ID of this probe node and No. ID of this infrared human body sensor array by the second wireless module, and is sent on host computer by serial communication modular;
Second source module, for providing power supply for second controller, the second wireless module;
Second status indicator lamp, for detecting that at second controller second source module electricity carries out flash caution time not enough;
The input of second controller connects the output of the second wireless module, and the input of the second status indicator lamp connects the output of second controller, and the second wireless module sets up radio communication by the mode of ZigBee multi-hop transmission and probe node.
5. the indoor occupant navigation system based on infrared human body sensor array according to claim 4, it is characterized in that, base-station node also comprises:
For arranging the sleeping/waking time, probe node transmitting power is set, the Keysheet module of the detectivity of infrared human body transducer;
For showing the display module of detectivity of sleeping/waking time, probe node transmitting power, infrared human body transducer;
Keysheet module is connected to the input of second controller; Display module is connected to the output of second controller.
6. utilize the indoor occupant navigation system based on infrared human body sensor array described in claim 1 to carry out the method for indoor occupant location, it is characterized in that, comprise the following steps:
Step 1: at indoor monitoring regional deployment at least 3 probe nodes, base-station node is connected with host computer by serial port connecting wire;
Step 2: the probe node information arranging deployment on host computer, comprises No. ID of probe node, probe node position and infrared human body sensor array No. ID;
Step 3: by base-station node to probe node setup parameter, comprises the detectivity of sleeping/waking time, probe node transmitting power, infrared human body transducer;
Step 4: probe node is started working, if do not have personnel to occur in radius of investigation, then infrared human body sensor array is failure to actuate, and continues detection, otherwise the infrared human body transducer that the personnel that detect in infrared human body sensor array occur outwards sends a high level signal, perform step 5;
Step 5: send No. ID of No. ID and corresponding probe node infrared human body transducer that personnel occur being detected to base-station node; Step 6: personnel appear in its radius of investigation if there is a probe node to detect, then this probe node sends information to the neighbours' probe node in communication radius and wakes neighbor node up and carry out collaborative detection, and is transmitted by the transmitting power set by the detection information of self; After neighbours' probe node receives the information of waking up, enter operating state immediately;
Described detection information comprises the ID of probe node and the ID of infrared human body transducer;
Step 7: if base-station node receives the information being less than three probe nodes, then continue the information of collecting probe node; If base-station node collects the information less than at least three probe nodes for a long time, then base-station node sends the instruction increasing transmitting power to each probe node; If base-station node receives the detection information of at least three probe nodes, by the detection information collected by Serial Port Transmission to host computer;
Step 8: host computer utilizes probe node position and detection information to estimate the position of personnel, obtains indoor occupant positioning result, and go to step 4 and locate next time.
7. indoor occupant localization method according to claim 6, it is characterized in that, in described step 4, the first controller of probe node detects the state of each infrared human body transducer of infrared human body sensor array by the mode of taking turns continuous query, the infrared ray of the reception human body radiation that infrared human body transducer is passive, by Fresnel Lenses, infrared heat source is focused in detection unit, and by change-over circuit output voltage signal.
8. indoor occupant localization method according to claim 6, is characterized in that, the concrete grammar that in described step 8, host computer utilizes probe node position and detection information to estimate the position of personnel is:
Step 8-1: the radius of investigation intersection point determining each neighbours' probe node that the radius of investigation of the probe node that the personnel that detect occur wakes up with it;
Step 8-2: abscissa and the ordinate of determining each intersection point;
Step 8-3: the abscissa of each intersection point and ordinate are averaged respectively, estimates the position coordinates of personnel, obtain indoor occupant positioning result.
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